CN102749583A - Hybrid power/electric vehicle drive motor system hardware-in-loop algorithm verification test bed - Google Patents
Hybrid power/electric vehicle drive motor system hardware-in-loop algorithm verification test bed Download PDFInfo
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Abstract
The invention relates to a hybrid power/electric vehicle power motor/battery hardware-in-loop test bed, in particular to a motor control and braking energy recovery strategy test system under energy-saving hybrid power/electric vehicle-mounted power motor/battery hardware-in-loop vehicle running whole-environmental simulation. A simulation test bed is constructed by using physical objects such as a power motor, a battery pack, power drivers such as IGBT (Insulated Gate Bipolar Transistor) and the like. Power motor control strategies, braking energy recovery strategies and overall vehicle control effects of various vehicle models under whole environment can be quickly verified by cooperating high-quality simulation environment through parameter setting in the established semi-physical simulation system, and the verifications of vehicle motor control strategies and braking energy recovery strategies are dynamically integrated. When energy is saved, the capital investment to real vehicle tests can be reduced, the development cost is saved, the development period is shortened, and the times and the dangerousness of real vehicle tests are reduced.
Description
Technical field:
The present invention relates to a kind of hybrid power/electric powered motor motor/cell hardware loop test bed, relate in particular to the vehicle-mounted power motor/cell hardware of a kind of energy-saving hybrid power/electric automobile Electric Machine Control and braking energy take-back strategy test macro under the vehicle ' loopful border emulation of loop.
Background technology:
At present, vehicle traction and the control technology based on engine reaches its maturity.But; Along with being on the increase of motor vehicle quantity; Environmental pollution and petroleum resources scarcity are day by day remarkable, and hybrid power/electric automobile makes countries in the world all actively study the electric automobile that can replace orthodox car hardy because of it has environmental protection and energy utilization rate advantages of higher.Hybrid power and electric automobile application technology thereby obtain fast development.As power source, vehicle-mounted power motor/battery system is the important component part of hybrid power/electric vehicle.Because the core of hybrid vehicle is battery, motor and control system thereof; Battery charge state, drive motor and controller performance play crucial effect to the performance of whole electric automobile, and it is very urgent and necessary to set up the relevant power motor based on the car load environment/battery special test testing table.
At present, mostly most of existing patent documentation about motor test is the motor performance test function and does.Patent documentation about hybrid power or the vehicle-mounted motor experimental bench of electric automobile is few, is also mostly done or perfect inadequately by certain special test." control is coordinated in electric vehicle abs braking and motor regenerative braking " by name like China Automotive Technology & Research Center's proposition; Its application number is 200910228940.5; The applying date is 2009.12.02; Application publication number is CN 101701877 A, relates to electric vehicle abs braking and motor regenerative braking coordination control strategy.The utility model of " motor of hybrid power automobile bench test protective device " by name that Shanghai Huapu Car Co., Ltd proposes; Application number is 201020589748.7; The applying date is 2010.11.04; Application publication number is CN 201937237 U, only relates to the safeguard measure in the motor of hybrid power automobile bench test process.
With this test macro comparatively similar be the utility model of China No.1 Automobile Group Co's " a kind of novel hybrid powder motor test-bed " by name of proposing; Application number is 201020553678.x; The applying date is 2010.09.29, and application publication number is CN 201867477 U, and this test-bed function is comparatively complete; But it is in service to have ignored real vehicle, and the state-of-charge of battery is to the influence of motor control strategy.As everyone knows, the state-of-charge of battery is bigger to the enforcement influence of motor control strategy, should give sufficient consideration.This test-bed uses dynamometer machine as load equipment, and cost is expensive.And testing table itself is energy-conservation inadequately and environmental protection.This test macro has used the different techniques scheme, and (section as follows) in these areas improves to some extent.
The present invention is based on the online embedded technology of real-time simulation hardware; Set up the state-of-charge of considering battery; As load, and can verify fast that various motor control strategy, braking energy take-back strategy and other each several parts of vehicle depend on the testing table of the control strategy validity of motor dynamic behaviour with direct current generator.Under the complete HWIL simulation environment of being set up; Cooperate the high-quality simulated environment; Through the parameter setting; Can verify power motor control strategy, braking energy take-back strategy and car load control effect under various vehicles, various road conditions, the various environment fast, and can effectively reduce the equipment development cost, experimental facilities itself has energy-conservation characteristics concurrently.Therefore, can reduce the test fund input, practice thrift cost of development, shorten the construction cycle, reduce the number of times and the danger of real train test.
Summary of the invention:
The present invention relates to a kind of hybrid power/electric powered motor motor/cell hardware loop test bed, relate in particular to the vehicle-mounted power motor/cell hardware of a kind of energy-saving hybrid power/electric automobile test of heuristics system under the loopful border emulation of loop.Solve the motor control strategy and the quick validation problem of braking energy take-back strategy, the wherein power saving of consideration reduction cost of development of testing equipment own and process of the test that embed the motor hardware system under the full simulated environment of car load.
In conjunction with accompanying drawing, explain as follows:
A kind of hybrid power/driving motor for electric automobile system hardware comprises main frame, target industrial computer, motor stand, signal section at Circuit Algorithms demonstration test platform, and main frame 6 is connected through serial communication line 5 with target industrial computer 4.
Described motor stand comprises power motor 11, load motor 8, power battery pack 22, load electric battery 21, IGBT driver module 18, loading charging module 17 and braking load-on module 16; Described power motor 11 is fixed on the iron floor 13 with load motor 8, and two motor shafts connect through shaft coupling 10 with one heart, and the input end of IGBT driver module 18 is connected with power motor 11 with power battery pack 22 respectively through hi-line with output terminal; The input end that loads charging module 17 and braking load-on module 16 is connected with load motor 8 with load electric battery 21 respectively through hi-line with output terminal;
Described signal section comprises the voltage, the current sensor I14 that are installed in power motor 11 power inputs or IGBT driver module 18 output terminals, be installed in voltage, the current sensor II15 of braking loading unit 16 output terminals, be installed in sensor I, II19,20 that power battery pack 22 and load electric battery 21 output terminals are used to measure its voltage, electric current and temperature; Be fixed on the speed pickup 7 on the concentric shafts; They are connected to signal conditioning circuit plate 2 through signal wire respectively; All signals that are connected to signal conditioning circuit plate 2 are connected to the terminal strip 3 of target industrial computer after conditioning; Data collecting card collects in the target machine in the target industrial computer by being installed in again, for data processing.
Described power battery pack 22 is connected with battery charger 24 respectively with load electric battery 21, can charge through 24 pairs of electric battery 22,21 of battery charger.
Described load motor 8 is the good direct current generator of reversibility.
Described power motor 11 can be selected phase asynchronous alternating current generator, synchronous permanent-magnet AC machine, direct current torque motor or switched reluctance machines.
Beneficial effect: the present invention adopts the simulator stand that makes up in kind such as power motor, electric battery, IGBT constant power driving element; In the semi-matter simulating system of being set up; Cooperate the high-quality simulated environment; Through the parameter setting, can verify power motor control strategy, braking energy take-back strategy and car load control effect under various vehicles, the loopful border fast, electric vehicle motor control strategy and the dynamic collection of braking energy take-back strategy authentication policy are one.The cost of testing table own is cheap relatively, and can carry out recycling to institute's energy delivered major part in the experimentation.Therefore, accomplish energy-conservation in, can reduce the real train test fund input, practice thrift cost of development, shorten the construction cycle, reduce the number of times and the danger of real train test.
Description of drawings:
Fig. 1 is a floor plan of the present invention;
Fig. 2 is a testing machine theory diagram of the present invention.
Wherein: 1, worktable, 2, the signal conditioning circuit plate, 3, signal acquiring board, 4, the target industrial computer, 5, signal wire; 6, main frame, 7, speed pickup, 8, the load direct current generator, 9, power line, 10, shaft coupling; 11, power motor, 12, the controlled power line of state, 13, the iron floor, 14, voltage-current sensor I, 15, voltage-current sensor II; 16, braking load-on module, 17, load charging module, 18, the IGBT driver module, 19, electric current and voltage temperature sensor I, 20, electric current and voltage temperature sensor II; 21, load electric battery, 22, power battery pack, 23, optional power line, 24, battery charger
Embodiment:
Divide from function, this testing table mainly contains following each several part and constitutes: motor and electric machine controller part, power, load electric battery part, battery status monitoring part, loading section, motor load measure portion.
Therefore the exploitation of this test platform, must be put into the functional analysis of stand platform in the hybrid vehicle total system engineering for hybrid power/electric vehicle exploitation service.This testing table adopts hardware in ring thought; The car load environment is placed in the target industrial computer with the form of the AMESim whole vehicle model built; Purpose is to be used for simulating the car load environment, motor (and engine, optional) provide car load required power; The motor part is controlled as controlled device separately as the hardware components of hardware at ring in the whole vehicle model.The energy flowing mode is: power battery pack provides direct current to driver module, after driver module control, exports to power motor, and output mechanical energy carries out energy recovery to reach energy-conservation effect through the load electric battery; Or provide dynamic braking or anti-drawing force motor to carry out energy by load motor to feed back to power battery pack.Be that mechanical flange connects between motor and the load motor.Load motor controller obtains required torque-demand from car load power assembly module.
Loading section
When the torque rotary speed family curve that carries out motor is tested and carried out the various performance test of electric automobile, all need apply mechanical load to motor.The simulation link of load is a direct current generator, is used for fictitious load through motor being carried out excitation control.The size of required load is provided by the torque-demand in the whole vehicle model.When the external excitation of direct current generator, when motor was in generating state, the electric energy that at this moment motor produced was exported to the load electric battery through the adjusting of load battery controller and is charged, to add required mechanical load to power motor.When control makes load motor be in motoring condition, be used to simulate the anti-feed situation of dragging of power motor, checking motor braking energy recovery strategy.
Electric battery and controller thereof
Be divided into power battery pack and load electric battery, power battery pack is that the electric operation of power motor provides power source, and its state-of-charge parameter collects via data collecting card and supplies in the target industrial computer to handle to use.
The load electric battery reclaims power motor output energy simultaneously as power motor load adjusting gear.Its process realizes through load controller.
Measure portion
Motor experimental bench should be able to measure corresponding electrical quantity of motor and mechanical parameter, the output torque of motor, rotating speed, and parameter such as the voltage at motor input end and electric battery two ends, electric current.Through the data card collection, supply the target industrial computer to handle and use.
Motor module and electric machine controller
Motor and control system are as the important power source of hybrid power/electric automobile, and its performance is encircled the direct power performance that influences hybrid power/electric automobile whole well.This part carries out signals collecting to respective sensor, be linked to the target industrial computer on the supporting PCLD-8115 terminal board, reliably be connected with multifunctional data acquiring control card PCL-818 series integrated circuit board, realize the link of signal acquiring board and industrial computer.Here industrial computer is as target machine, and its effect is: communicate by letter with the target industrial computer through main frame, download to Electric Machine Control algorithm executable code in the target industrial computer, be used for realizing the function of controller, and then realize motor speed and torque control.
The present invention has multiple embodiments, and power motor can be taked phase asynchronous alternating current generator, Thee-phase alternating current permanent-magnetic motor, direct current torque motor, switch magneto.Specific embodiments when at present combining power motor to get three-phase permanent magnet synchronous motor.
Hybrid power/electric automobile motor drive system hardware comprises main frame, target industrial computer, motor stand, signal section in Circuit Algorithms demonstration test platform structure, and main frame 6 is connected through serial communication line 5 with target machine 4.
Described motor stand comprises power motor 11, load motor 8, power battery pack 22, load electric battery 21, IGBT driver module 18, loads charging module 17 and braking load-on module 16; Described power motor 11 is fixed on the iron floor 13 with load motor 8, and two motor shafts connect through shaft coupling 10 with one heart, and the input end of IGBT driver module 18 is connected with power motor 11 with power battery pack 22 respectively through hi-line with output terminal; The input end that loads charging module 17 and braking load-on module 16 is connected with load motor 8 with load electric battery 21 respectively through hi-line with output terminal;
Fixed speed sensor 7 on concentric shafts, sensor signal is connected to signal conditioning circuit plate 2 through signal wire.The sensor I14 that is installed in power motor 11 power inputs or IGBT driver module 18 output terminals is used for power motor voltage, current signal is measured, and is connected to signal conditioning circuit plate 2 through signal wire.The electric current, the voltage sensor II15 that are installed in braking loading unit 16 output terminals are connected to signal conditioning circuit plate 2 through signal wire.Power battery pack 22 and load electric battery 21 are near motor 11; 8 the local discharging of fixed installation side by side; Output terminal at them all fixedly is equipped with sensor I, the II19 that is used to measure its voltage, electric current and temperature; 20, monitor the current state-of-charge of electric battery, all be connected to signal regulating panel 2 through signal wire.All signals that are connected to signal conditioning circuit plate 2 are connected to terminal strip 3 after conditioning, data collecting card collects in the target machine in the target industrial computer by being installed in again, for data processing.Power battery pack can be exchanged according to actual conditions with the load electric battery and is connected.Described power battery pack 22 is connected with battery charger 24 respectively with load electric battery 21, can charge through 24 pairs of electric battery 22,21 of battery charger in case of necessity.
Below, be example with the electric vehicle, in conjunction with Fig. 1 and Fig. 2, specify the working mechanism of this testing table.
The present invention has the multiple technologies experimental program.
First kind of experimental program: electric automobile under situation such as open car, quicken, travel at the uniform speed, the checking motor control strategy.Power motor is in motor-operated running state, and the load direct current generator is in generating state, external excitation.Follow following process of the test and mechanism.
1. corresponding reference speed, the target machine that high-quality AMEsim vehicle complete vehicle dynamics simulation model is housed provides the torque demand in the vehicle ' process, moment of torsion input as a reference.
2. given moment of torsion is imported as the reference of load controller with reference to input; With load motor as controlled device; As actuator, as feedback quantity, form closed-loop system with the load driver module with the voltage at load electric battery the two poles of the earth and working current; With the charging process of High-Accuracy PWM mode control load motor to the load electric battery, and then track reference inputs to the power motor loading.
3. power motor is giving under the effect of fixed load, by the requirement of reference speed, with power motor as controlled device; As actuator, as feedback quantity, form closed-loop system with the IGBT driver module with the voltage of power motor stator terminal and working current; Adjust through the Electric Machine Control algorithm; Through the inversion of IGBT driver module, the charging output torque of control power motor is to cater to the demand of vehicle operating moment of torsion, the track reference speed of a motor vehicle.Wherein, the Electric Machine Control algorithm need be considered the power battery pack state-of-charge.Checking Electric Machine Control algorithm is observed the control effect to motor output torque and rotating speed in this part.
Second kind of experimental program: electric automobile is verified the braking energy take-back strategy under the braking situation.Power motor is in the feed running status, and load motor is in motoring condition, external excitation.Follow following process of the test and mechanism.
1. corresponding damped condition, the target machine that high-quality AMEsim vehicle complete vehicle dynamics simulation model is housed provides brake torque signals and speed of a motor vehicle situation of change in the car brakeing process, as the output reference torque and the rotating speed of load motor.
2. with given moment of torsion reference and rotating speed reference, as the reference input of load controller, with load motor as controlled device; To brake load-on module as topworks; As power source, load motor armature terminal voltage and working current form closed-loop system as feedback quantity with the load electric battery; With High-Accuracy PWM mode control load motor, track reference moment of torsion and reference speed.
3. power motor is being given under the dragging of fixed load, with the IGBT driver module as topworks, with power battery pack voltage and charging current as feedback quantity; Form closed-loop system; Reclaim the algorithm adjustment through braking energy,, power battery pack is charged through the rectification of IGBT driver module.Checking braking energy take-back strategy in this part, the control effect of observing the energy recovery strategy.
The third experimental program: unite preceding two kinds of experimental programs,, merge load controller and electric machine controller, realize to Electric Machine Control algorithm under the full operating mode of electric vehicle and energy recovery proof of algorithm through switch logic control according to running conditions of vehicle.
The present invention's design relates to vehicle and comprises motor vehicle driven by mixed power and pure electric vehicle.
Claims (4)
1. hybrid power/driving motor for electric automobile system hardware is at Circuit Algorithms demonstration test platform; Comprise main frame, target industrial computer, motor stand, signal section; Wherein main frame (6) and target industrial computer (4) connect through serial communication line (5), it is characterized in that:
Described motor stand comprises power motor (11), load motor (8), power battery pack (22), load electric battery (21), IGBT driver module (18), loads charging module (17) and braking load-on module (16); Described power motor (11) and load motor (8) are fixed on the iron floor (13); Two motor shafts connect through shaft coupling (10) with one heart, and the input end of IGBT driver module (18) is connected with power motor (11) with power battery pack (22) respectively through hi-line with output terminal; The input end that loads charging module (17) and braking load-on module (16) is connected with load motor (8) with load electric battery (21) respectively through hi-line with output terminal;
Described signal section comprises the voltage, the current sensor I (14) that are installed in power motor (11) power input or IGBT driver module (18) output terminal, is installed in the voltage of braking loading unit (16) output terminal, current sensor II (15), be installed in sensor I, the II (19,20) that power battery pack (22) and load electric battery (21) output terminal are used to measure its voltage, electric current and temperature respectively; Be fixed on the speed pickup (7) on the concentric shafts; They are connected to signal conditioning circuit plate (2) through signal wire respectively; All signals that are connected to signal conditioning circuit plate (2) are connected to the terminal strip (3) of target industrial computer after conditioning; Data collecting card collects in the target industrial computer, for data processing in the target industrial computer by being installed in again.
2. a kind of hybrid power according to claim 1/driving motor for electric automobile system hardware is at Circuit Algorithms demonstration test dress platform; It is characterized in that described power battery pack (22) is connected with battery charger (24) respectively with load electric battery (21), can charge to electric battery (22,21) through battery charger (24).
3. a kind of hybrid power according to claim 1/electric automobile motor drive system hardware is characterized in that at Circuit Algorithms demonstration test dress platform described load motor (8) is the good direct current generator of reversibility.
4. a kind of hybrid power according to claim 1/electric automobile motor drive system hardware is at Circuit Algorithms demonstration test platform; It is characterized in that described power motor (11) can be selected phase asynchronous alternating current generator, synchronous permanent-magnet AC machine, direct current torque motor or switched reluctance machines.
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| CN102998621A (en) * | 2012-11-19 | 2013-03-27 | 腾达电动科技镇江有限公司 | Measuring device of disc type driving motor |
| CN103176472A (en) * | 2013-03-13 | 2013-06-26 | 长沙理工大学 | Four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system |
| CN103197550A (en) * | 2013-03-05 | 2013-07-10 | 清华大学 | Dynamic load simulation method of automotive electric braking system |
| CN103323261A (en) * | 2013-06-25 | 2013-09-25 | 江苏大学 | Vehicle-mounted braking energy recovery detecting system of electric car and hybrid power car |
| CN104504191A (en) * | 2014-12-21 | 2015-04-08 | 吉林大学 | Four-wheel-drive electric vehicle simulation modeling method based on AMESim |
| CN104950257A (en) * | 2015-06-29 | 2015-09-30 | 吉林大学 | Test system and test method for open-end winding permanent magnet synchronous motor |
| CN105807234A (en) * | 2016-03-21 | 2016-07-27 | 安徽工程大学 | Device for testing performance of battery of electric automobile |
| CN106950494A (en) * | 2016-12-13 | 2017-07-14 | 万向钱潮股份有限公司 | A kind of DC brushless motor assembly is in ring test test device |
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| CN109683579A (en) * | 2019-02-22 | 2019-04-26 | 西南交通大学 | Distributed four-wheel electric drive new-energy automobile experimental system based on hardware in loop |
| CN110865632A (en) * | 2019-11-25 | 2020-03-06 | 重庆长安新能源汽车科技有限公司 | Man-machine interaction testing method based on intelligent driving simulator |
| CN111880096A (en) * | 2020-08-21 | 2020-11-03 | 北京机械设备研究所 | Multi-axis electric drive system loading test system and test method |
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| CN112858908A (en) * | 2021-01-22 | 2021-05-28 | 一汽解放汽车有限公司 | System, method, device, equipment and storage medium for testing motor of steering gear |
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| CN103197550A (en) * | 2013-03-05 | 2013-07-10 | 清华大学 | Dynamic load simulation method of automotive electric braking system |
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| CN105807234B (en) * | 2016-03-21 | 2019-01-29 | 安徽工程大学 | Batteries of electric automobile performance testing device |
| CN106950494A (en) * | 2016-12-13 | 2017-07-14 | 万向钱潮股份有限公司 | A kind of DC brushless motor assembly is in ring test test device |
| US10861258B2 (en) * | 2017-06-23 | 2020-12-08 | Hyundai Motor Company | Method for preventing diagnostic errors in vehicle network and apparatus therefor |
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| CN109683579B (en) * | 2019-02-22 | 2023-08-22 | 西南交通大学 | Distributed four-wheel electric drive new energy automobile experimental system based on hardware in loop |
| CN110865632A (en) * | 2019-11-25 | 2020-03-06 | 重庆长安新能源汽车科技有限公司 | Man-machine interaction testing method based on intelligent driving simulator |
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| CN112158079A (en) * | 2020-09-27 | 2021-01-01 | 一汽解放青岛汽车有限公司 | Intelligent load trailer and control method thereof |
| CN112362359A (en) * | 2020-11-06 | 2021-02-12 | 中国重型汽车集团有限公司 | Test bench system and method for hybrid power assembly of commercial vehicle |
| CN112858908A (en) * | 2021-01-22 | 2021-05-28 | 一汽解放汽车有限公司 | System, method, device, equipment and storage medium for testing motor of steering gear |
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